Fuzzy sliding mode control with perturbation estimation for a piezoactuated micromanipulator

Qingsong Xu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)


This paper is concentrated on control system design for an XY parallel micromanipulator with piezoelectric actuation. The decoupled property of the manipulator enables the employment of single-input-single-output controllers for the two working axes. To compensate for nonlinear hysteresis effect stemming from piezoelectric actuator, the dynamics with Bouc-Wen hysteresis model is derived and identified for the system. Afterwards, a real-time fuzzy sliding mode control with perturbation estimation (FSMCPE) along with fuzzy switching control is proposed to attenuate the chattering phenomenon. Experimental studies reveal that the designed FSMCPE is superior to conventional SMCPE in terms of both positioning and tracking performances of the micromanip-ulator system, which validates the effectiveness of the presented control system design as well.
Original languageEnglish
Title of host publicationAdvances in Neural Network Research and Applications
Number of pages8
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event7th International Symposium on Neural Networks, ISNN 2010 - Shanghai, China
Duration: 6 Jun 20109 Jun 2010

Publication series

NameLecture Notes in Electrical Engineering
Volume67 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference7th International Symposium on Neural Networks, ISNN 2010


  • Fuzzy sliding mode control
  • Micropositioning
  • Parallel manipulator

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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